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Visual Data Fusion : Application to Objects Localization and Exploration

Grégory Flandin 1 François Chaumette 1
1 VISTA - Vision spatio-temporelle et active
IRISA - Institut de Recherche en Informatique et Systèmes Aléatoires, Inria Rennes – Bretagne Atlantique
Abstract : Visual sensors provide exclusively uncertain and partial knowledge of a scene. In this report, we present a suitable scene knowledge representation that makes integration and fusion of new, uncertain and partial sensor measures possible. It is based on a mixture of stochastic and set membership models. We consider that, for a large class of applications, an approximated representation is sufficient to build a preliminary map of the scene. Our approximation mainly results in ellipsoidal calculus by means of a normal assumption for stochastic laws and ellipsoidal over or inner bounding for uniform laws. With these approximations, we coarsely model objects by their including ellipsoid. Then we build an efficient estimation process integrating visual data online in order to refine the location and approximated shape of the objects. Based on this estimation scheme, we perform online and optimal exploratory motions for the camera.
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https://hal.inria.fr/inria-00072454
Contributor : Rapport de Recherche Inria <>
Submitted on : Wednesday, May 24, 2006 - 10:00:20 AM
Last modification on : Thursday, January 7, 2021 - 4:29:05 PM
Long-term archiving on: : Sunday, April 4, 2010 - 11:08:28 PM

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  • HAL Id : inria-00072454, version 1

Citation

Grégory Flandin, François Chaumette. Visual Data Fusion : Application to Objects Localization and Exploration. [Research Report] RR-4168, INRIA. 2001. ⟨inria-00072454⟩

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